// iKalibr: Unified Targetless Spatiotemporal Calibration Framework
// Copyright 2024, the School of Geodesy and Geomatics (SGG), Wuhan University, China
// https://github.com/Unsigned-Long/iKalibr.git
//
// Author: Shuolong Chen (shlchen@whu.edu.cn)
// GitHub: https://github.com/Unsigned-Long
//  ORCID: 0000-0002-5283-9057
//
// Purpose: See .h/.hpp file.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
// * The names of its contributors can not be
//   used to endorse or promote products derived from this software without
//   specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// POSSIBILITY OF SUCH DAMAGE.

#ifndef IKALIBR_BAG_MERGE_H
#define IKALIBR_BAG_MERGE_H

#include "util/utils.h"
#include "util/cereal_archive_helper.hpp"

namespace {
bool IKALIBR_UNIQUE_NAME(_2_) = ns_ikalibr::_1_(__FILE__);
}

namespace ns_ikalibr {

struct MergeConfigor {
public:
    using Ptr = std::shared_ptr<MergeConfigor>;

    struct BagMergeInfo {
        std::string bagPath;
        std::map<std::string, std::string> topicsToMerge;

        [[nodiscard]] std::string GetDstTopic(const std::string &srcTopic) const;

        [[nodiscard]] std::vector<std::string> GetSrcTopicVec() const;

    public:
        template <class Archive>
        void serialize(Archive &ar) {
            ar(cereal::make_nvp("BagPath", bagPath),
               cereal::make_nvp("TopicsToMerge", topicsToMerge));
        }
    };

public:
    std::vector<BagMergeInfo> _bags;
    double _bagBeginTime{};
    double _bagEndTime{};
    std::string _outputBagPath;

    MergeConfigor() = default;

    static Ptr Create();

    // load configure information from file
    static Ptr LoadConfigure(const std::string &filename, CerealArchiveType::Enum archiveType);

    // save configure information to file
    bool SaveConfigure(const std::string &filename, CerealArchiveType::Enum archiveType);

    void PrintMainFields();

public:
    template <class Archive>
    void serialize(Archive &ar) {
        ar(cereal::make_nvp("Bags", _bags), cereal::make_nvp("BagBeginTime", _bagBeginTime),
           cereal::make_nvp("BagEndTime", _bagEndTime),
           cereal::make_nvp("OutputBagPath", _outputBagPath));
    }
};

class BagMerger {
public:
    using Ptr = std::shared_ptr<BagMerger>;

private:
    MergeConfigor::Ptr _configor;

public:
    explicit BagMerger(MergeConfigor::Ptr mergeConfigor);

    static Ptr Create(const MergeConfigor::Ptr &mergeConfigor);

    std::pair<ros::Time, ros::Time> Process();
};
}  // namespace ns_ikalibr

#endif  // IKALIBR_BAG_MERGE_H
